CN107202715A - Lake water sampling flying robot - Google Patents
Lake water sampling flying robot Download PDFInfo
- Publication number
- CN107202715A CN107202715A CN201610158820.2A CN201610158820A CN107202715A CN 107202715 A CN107202715 A CN 107202715A CN 201610158820 A CN201610158820 A CN 201610158820A CN 107202715 A CN107202715 A CN 107202715A
- Authority
- CN
- China
- Prior art keywords
- sampling
- installing plate
- motor
- flying robot
- steel wire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1031—Sampling from special places
Abstract
The invention discloses a kind of lake water sampling flying robot, including：Aircraft and sampling apparatus, the aircraft include installing plate, connecting shaft and propeller, and the quantity of the connecting shaft and propeller is all higher than one, and described connecting shaft one end connects the propeller, and the other end connects the installing plate；The sampling apparatus includes：Elevating mechanism and sampling tank, the elevating mechanism includes support frame, motor, wire wheel and steel wire, support frame as described above is fixed on the installing plate, the motor and wire wheel are mounted on support frame as described above, and the output shaft of the motor is connected with the wire wheel, the steel wire one ends wound is on the wire wheel, and the other end is connected with the sampling tank, and the motor drives the wire wheel to rotate and lifts or transfer the sampling tank by the steel wire.The present invention is a kind of can be precisely controlled water acquisition destination locations, the lake water sampling flying robot of water acquisition depth.
Description
Technical field
Water acquisition purpose status can be precisely controlled the present invention relates to lake water acquisition apparatus field, more particularly to one kind
Put, the lake water sampling flying robot of water acquisition depth.
Background technology
With continuing to develop for aircraft and aircraft electrical pool technology, realize aircraft can bear a heavy burden, long distance
From, flying for long time.
Water is Source of life, and the mankind be unable to do without water, the quality of water quality and the mankind in life and production activity
There is close relationship with the health of other biological.And Lake Water refer to land it is the formation of depression ponding,
Waters is broader, flow slow water body, and Lake Water is the important component of water resource, it is necessary to often
Lake Water water quality is detected, the abnormal conditions of lake water quality are found in time by detection, is easy to pre- in time
Warn and protect water resources in lake.Traditional lake water quality detection is most of to use manual sampling, then send experiment
Room measurement analysis mode carry out, this detection mode wastes time and energy and real-time is not high, it is impossible in time for
Lake Water provides early warning, in addition, the place of traditional lake water quality detection manual sampling is restricted, fetches water
Depth be also limited.
Therefore, need badly it is a kind of can be precisely controlled water acquisition destination locations, water acquisition depth lake water sampling fly
Row robot.
The content of the invention
It is an object of the invention to provide it is a kind of can be precisely controlled water acquisition destination locations, water acquisition depth lake
Water sampling flying robot.
To achieve these goals, the technical scheme that provides of the present invention is：A kind of lake water sampling flight is provided
Robot, including：Aircraft and sampling apparatus, the aircraft include installing plate, connecting shaft and propeller,
The connecting shaft and the quantity of propeller are all higher than one, and described connecting shaft one end connects the propeller,
The other end connects the installing plate；The sampling apparatus includes：Elevating mechanism and sampling tank, the lift
Structure includes support frame, motor, wire wheel and steel wire, and support frame as described above is fixed on the installing plate, described
Motor and wire wheel are mounted on support frame as described above, and the output shaft of the motor is connected with the wire wheel,
The steel wire one ends wound is on the wire wheel, and the other end is connected with the sampling tank, the motor driving
The wire wheel rotates and lifts or transfer the sampling tank by the steel wire.
The sampling apparatus also includes steel wire length and measures mechanism, and the steel wire length measurement mechanism includes counting
Motor, shaft coupling and driven pulley, the counting motor are connected by the shaft coupling with the driven pulley, institute
State steel wire and pass through the driven pulley positioned at the part between the wire wheel and sampling tank, when steel wire decentralization
During the sampling tank, the length that the counting motor is transferred to steel wire is calculated.
Also include electromagnetic brake, the wheel disc centre of the wire wheel is provided with shaft core, one end of the shaft core
With the motor connection, the other end of the shaft core is connected with the electromagnetic brake, when the counting motor
When the length for calculating the steel wire decentralization reaches target length, the motor stops, and starts the electromagnetism
Brake is braked to the wire wheel.
Each connecting shaft is collapsibly installed on the installing plate, in its natural state, the company
Spindle fold with the installing plate be in an angle of 90 degrees, prepare flight/state of flight under, the connecting shaft open with
The installing plate is parallel.
The installing plate top is respectively connected with provided with flight control pcb board and battery, and each propeller
Electron speed regulator, the flight control pcb board is used to control the propeller by the electron speed regulator
Rotary speed.
Rescue ring is additionally provided with the connecting shaft, the rescue ring can ensure that flying robot can float on the surface.
Also include support frame, support frame as described above is installed on the installing plate, support frame as described above is used to take off/drop
Flying robot is supported on ground when falling.
Also include 3D cradle head cameras, the 3D cradle head cameras are installed on the installing plate.
Compared with prior art, due in water sampling flying robot in lake of the present invention, including aircraft and
Sampling apparatus, new sample devices, the sampling apparatus are combined to form by the sampling apparatus and aircraft
Can be exactly by the steel wire decentralization sampling tank to the water body in lake, being carried out to the water body in lake
Sampling, and because equipment is built with GPS module, therefore, it is possible to the position of accurate control sampling, and may be used also
To carry out captured in real-time and defeated in real time by wireless communication module to the process of sampling by 3D cradle head cameras
Go out.
By following description and with reference to accompanying drawing, the present invention will become more fully apparent, and these accompanying drawings are used to explain
Embodiments of the invention.
Brief description of the drawings
Fig. 1 is the schematic diagram of one embodiment of water sampling flying robot in lake of the present invention.
Fig. 2 is the view of another state of lake water sampling flying robot as shown in Figure 1.
Fig. 3 is the schematic diagram of lake water sampling flying robot's sampling apparatus as shown in Figure 1.
Embodiment
Element numbers similar in embodiments of the invention, accompanying drawing, which are described, with reference now to accompanying drawing represents similar member
Part.As described above, as shown in Figures 1 to 3, the present embodiment provides a kind of lake water sampling flying robot 100,
Including：Aircraft 50 and sampling apparatus 60, the aircraft include installing plate 1, connecting shaft 2 and propeller
3, the quantity of the connecting shaft 2 and propeller 3 is all higher than one, and the connection of the one end of the connecting shaft 2 is described
Propeller 3, the other end connects the installing plate 1；The sampling apparatus 60 includes：Elevating mechanism 4 and adopt
Sample bucket 5, the elevating mechanism 4 includes support frame 41, motor 42, wire wheel 43 and steel wire 44, described
Support frame 41 is fixed on the installing plate 1, and the top of support frame as described above 41 is secured by bolts in the peace
The lower surface of plate 1 is filled, the motor 42 and wire wheel 43 are mounted on support frame as described above 41, and described
The output shaft of motor 42 is connected with the wire wheel 43, and the one ends wound of steel wire 44 is in the wire wheel 43
On, the other end is connected with the sampling tank 5, and the motor 42 drives the wire wheel 43 to rotate and pass through
The steel wire 44 lifts or transferred the sampling tank 5.
In one embodiment, as shown in figure 3, the sampling apparatus 60, which also includes steel wire length, measures mechanism 6,
The steel wire length measurement mechanism 6 includes counting motor 61, shaft coupling 62 and driven pulley 63, described to count
Motor 61 is connected by the shaft coupling 62 with the driven pulley 63, and the steel wire 44 is located at the steel wire
The driven pulley 63 is passed through in part between wheel 43 and sampling tank 5, when the steel wire 44 transfers the sampling
During bucket 5, the length that the counting motor 61 is transferred to steel wire 44 is calculated.Pass through the steel wire length
Mechanism 6 is measured, the length that the sampling tank 5 can be controlled to transfer exactly, is that can control institute exactly
The position for the depth of water residing for water sample adopted.And the bottom of the sampling tank 5 is provided with least one unidirectional electromagnetism
Valve, when the sampling tank 5 reaches set depth of water position, controls the Unidirectional solenoid valve conducting, allows water to enter
Enter the sampling tank 5, then allow the Unidirectional solenoid valve to be closed again.
In one embodiment, as shown in figure 3, also including electromagnetic brake 7, the wheel disc of the wire wheel 43
Centre is provided with shaft core, and one end of the shaft core is connected with the motor 42, the other end of the shaft core and
The electromagnetic brake 7 is connected, when the length that the counting motor 61 is calculated to the steel wire 44 decentralization is arrived
During up to target length, the motor 42 stops, and startup 7 pairs of the electromagnetic brake steel wire 44 is taken turns
Braked.
In one embodiment, as illustrated in fig. 1 and 2, each connecting shaft 2 is collapsibly installed in institute
State on installing plate 1, in its natural state, it is in an angle of 90 degrees that the connecting shaft 2, which is folded with the installing plate 1,
In the case where preparing flight/state of flight, the connecting shaft 2 is opened parallel with the installing plate.It is illustrated in figure 2
The connecting shaft 2 is folded state, and it is in an angle of 90 degrees with the installing plate 1, and folded state can protect institute
State connecting shaft 2 and propeller 3 avoids the damage that is collided.
In one embodiment, the top of installing plate 1 is provided with flight control pcb board and battery, and each institute
State propeller 3 and be respectively connected with electron speed regulator, the flight control pcb board is used by the electron speed regulator
In the rotary speed for controlling the propeller 3.
Need in specification, above-mentioned several embodiments, conducting and closing, the electricity of the Unidirectional solenoid valve
The control of sub- speed regulator is to control the controller on pcb board to be controlled by the flight, and described winged
Can also be by setting 3G or 4G communication modules to be communicated with long-range host computer on row control pcb board.
In one embodiment, as shown in figure 1, rescue ring 8 is additionally provided with the connecting shaft 2, the rescue ring
8 can ensure that flying robot can float on the surface.Water sampling flying robot 100 in lake of the present invention is on lake
During empty water acquisition, the natural disasters such as high wind, heavy rain are met with or due to equipment self reason so that device fails
And drop lake when, due to being mounted on the rescue ring 8 in each connecting shaft 2, therefore, it is possible to pass through
The rescue ring 8 floats on the surface.
In one embodiment, as illustrated in fig. 1 and 2, in addition to support frame 9, support frame as described above 9 is installed in institute
State on installing plate 1, support frame as described above 9 is used to flying robot is supported in into ground when taking off/landing.
In one embodiment, in addition to 3D cradle head cameras, the 3D cradle head cameras are installed in the peace
Fill on plate.Whose idea of 3D heads can be by equipment in whole sampling process action be filmed, and lead to
Cross wireless communication module and be transferred to remote terminal, monitored in real time, can prevent sampled data from playing tricks, really
Protect data accuracy.
Above disclosed is only the preferred embodiments of the present invention, can not limit the present invention with this certainly
Interest field, therefore equivalent variations made according to scope of the present invention patent still belong to the present invention and are covered
Scope.
Claims (8)
1. a kind of lake water sampling flying robot, it is characterised in that including：Aircraft and sampling apparatus,
The aircraft includes installing plate, connecting shaft and propeller, and the quantity of the connecting shaft and propeller is all higher than
One, and described connecting shaft one end connects the propeller, the other end connects the installing plate；The sampling
Device includes：Elevating mechanism and sampling tank, the elevating mechanism include support frame, motor, wire wheel and steel
Silk, support frame as described above is fixed on the installing plate, and the motor and wire wheel are mounted on support frame as described above
On, and the output shaft of the motor is connected with the wire wheel, the steel wire one ends wound is in the wire wheel
On, the other end is connected with the sampling tank, and the motor drives the wire wheel to rotate and passes through the steel wire
Lift or transfer the sampling tank.
2. water sampling flying robot in lake as claimed in claim 1, it is characterised in that the sampling cartridge
Putting also includes steel wire length and measures mechanism, steel wire length measurement mechanism include counting motor, shaft coupling and
Driven pulley, the counting motor is connected by the shaft coupling with the driven pulley, and the steel wire is located at described
The driven pulley is passed through in part between wire wheel and sampling tank, when the steel wire transfers the sampling tank,
The length that the counting motor is transferred to steel wire is calculated.
3. water sampling flying robot in lake as claimed in claim 2, it is characterised in that also including electromagnetism
Brake, the wheel disc centre of the wire wheel is provided with shaft core, one end of the shaft core and the motor connection,
The other end of the shaft core is connected with the electromagnetic brake, when under the counting motor calculation to the steel wire
When the length put reaches target length, the motor stops, and starts the electromagnetic brake to the steel wire
Wheel is braked.
4. water sampling flying robot in lake as claimed in claim 1, it is characterised in that each company
Spindle is collapsibly installed on the installing plate, in its natural state, the connecting shaft fold with it is described
Installing plate is in an angle of 90 degrees, and in the case where preparing flight/state of flight, the connecting shaft is opened parallel with the installing plate.
5. water sampling flying robot in lake as claimed in claim 1, it is characterised in that the installing plate
Top is provided with flight control pcb board and battery, and each propeller is respectively connected with electron speed regulator, institute
State the rotary speed that flight control pcb board is used to control the propeller by the electron speed regulator.
6. the lake water sampling flying robot as described in any one of Claims 1 to 5, it is characterised in that
Rescue ring is additionally provided with the connecting shaft, the rescue ring can ensure that flying robot can float on the surface.
7. the lake water sampling flying robot as described in any one of Claims 1 to 5, it is characterised in that
Also include support frame, support frame as described above is installed on the installing plate, when support frame as described above is used to take off/land
Flying robot is supported on ground.
8. the lake water sampling flying robot as described in any one of Claims 1 to 5, it is characterised in that
Also include 3D cradle head cameras, the 3D cradle head cameras are installed on the installing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158820.2A CN107202715A (en) | 2016-03-17 | 2016-03-17 | Lake water sampling flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158820.2A CN107202715A (en) | 2016-03-17 | 2016-03-17 | Lake water sampling flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107202715A true CN107202715A (en) | 2017-09-26 |
Family
ID=59904655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610158820.2A Pending CN107202715A (en) | 2016-03-17 | 2016-03-17 | Lake water sampling flying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107202715A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479324A (en) * | 2021-07-06 | 2021-10-08 | 西交利物浦大学 | Intelligent water quality sampling unmanned aerial vehicle system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101561367A (en) * | 2009-06-04 | 2009-10-21 | 北京师范大学 | Floating automatic water sampler |
| CN101819102A (en) * | 2009-12-08 | 2010-09-01 | 中国地质科学院水文地质环境地质研究所 | Water-sample automatic in-situ acquisition and analysis instrument |
| CN103332634A (en) * | 2013-06-17 | 2013-10-02 | 浙江理工大学 | Auxiliary device and method for rock climbing |
| CN204085945U (en) * | 2014-08-06 | 2015-01-07 | 青岛理工大学 | A kind of rivers and lakes water sample automatic control and collection system based on many rotor wing unmanned aerial vehicles |
| CN104743110A (en) * | 2015-04-23 | 2015-07-01 | 马鞍山市赛迪智能科技有限公司 | Folding type aerial-delivery unmanned aerial vehicle |
| US20150268136A1 (en) * | 2014-02-14 | 2015-09-24 | Nutech Ventures | Aerial Water Sampler |
-
2016
- 2016-03-17 CN CN201610158820.2A patent/CN107202715A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101561367A (en) * | 2009-06-04 | 2009-10-21 | 北京师范大学 | Floating automatic water sampler |
| CN101819102A (en) * | 2009-12-08 | 2010-09-01 | 中国地质科学院水文地质环境地质研究所 | Water-sample automatic in-situ acquisition and analysis instrument |
| CN103332634A (en) * | 2013-06-17 | 2013-10-02 | 浙江理工大学 | Auxiliary device and method for rock climbing |
| US20150268136A1 (en) * | 2014-02-14 | 2015-09-24 | Nutech Ventures | Aerial Water Sampler |
| CN204085945U (en) * | 2014-08-06 | 2015-01-07 | 青岛理工大学 | A kind of rivers and lakes water sample automatic control and collection system based on many rotor wing unmanned aerial vehicles |
| CN104743110A (en) * | 2015-04-23 | 2015-07-01 | 马鞍山市赛迪智能科技有限公司 | Folding type aerial-delivery unmanned aerial vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479324A (en) * | 2021-07-06 | 2021-10-08 | 西交利物浦大学 | Intelligent water quality sampling unmanned aerial vehicle system |
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